Real-time moving platform management system

ABSTRACT

Systems and methods are disclosed including a moving platform system suitable for mounting and use on a moving platform for communicating in real-time, comprising: a position system monitoring location of the moving platform and generating a sequence of time-based position data; a non-line of sight communication system; a high-speed line of sight communication system; and a computer system monitoring an availability of the non-line of sight communication system and the high-speed line of sight communication system and initiating connections when the non-line of sight communication system and the high-speed line of sight communication system are available, and receiving the sequence of time-based position data and transmitting the sequence of time-based position data via the at least one of the currently available non-line of sight communication system and the high-speed line of sight communication system.

CROSS-REFERENCE TO AND INCORPORATION OF APPLICATIONS

The present patent application is a continuation of the patentapplication identified by U.S. Ser. No. 13/730,140, which was filed onDec. 28, 2012, and titled “Real-time Moving Platform Management System,”which is a divisional of the patent application identified by U.S. Ser.No. 12/831,971, which was filed on Jul. 7, 2010, and titled “Real-timeMoving Platform Management System,” now U.S. Pat. No. 8,477,190, all ofwhich are hereby incorporated by reference in their entirety herein.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH AND DEVELOPMENT

This invention was made with government support under SBIR/STTR topicnumber H-SB06.1-006 and/or contract number NBCH080046 awarded by theDepartment of Homeland Security Advanced Research Projects Agency. Thegovernment has certain rights in the invention.

BACKGROUND OF THE INVENTION

As background, in the remote sensing/aerial imaging industry, imagery isused to capture views of a geographic area and to be able to measureobjects and structures within the images as well as to be able todetermine geographic locations of points within the image. These aregenerally referred to as “geo-referenced images” and come in two basiccategories:

Captured Imagery—these images have the appearance they were captured bythe camera or sensor employed.

Projected Imagery—these images have been processed and converted suchthat they confirm to a mathematical projection.

All imagery starts as captured imagery, but as most software cannotgeo-reference captured imagery, that imagery is then reprocessed tocreate the projected imagery. The most common form of projected imageryis the ortho-rectified image. This process aligns the image to anorthogonal or rectilinear grid (composed of rectangles). The input imageused to create an ortho-rectified image is a vertical or nadirimage—that is, an image captured with the camera pointing straight down.It is often quite desirable to combine multiple images into a largercomposite image such that the image covers a larger geographic area onthe ground. The most common form of this composite image is the“ortho-mosaic image” which is an image created from a series ofoverlapping or adjacent nadir images that are mathematically combinedinto a single ortho-rectified image.

Because the rectilinear grids used for the ortho-mosaic are generallythe same grids used for creating maps, the ortho-mosaic images bear astriking similarity to maps and as such, are generally very easy to usefrom a direction and orientation standpoint. However, because the imagesare captured looking straight down, most people have difficultydetermining what they are seeing since people rarely see the world thatway. There is an entire discipline dedicated to working with vertical ornadir imagery known as photo interpretation which teaches people how toread subtle clues in the image to make a determination of what theobject they are seeing might be.

It is for this reason that Pictometry created fully geo-referencedoblique imagery. Like ortho-rectified nadir images, these images havethe ability to support measurements, determine locations, measureheights, and overlay annotations and GIS data. However, they arecaptured at an oblique angle so that they capture not only the top ofstructures and objects, but also the sides as well. This is a much morenatural view that allows anyone to use aerial imagery—it eliminates theneed to train in photo interpretation or have years of experience inorder to make confident assessments regarding the content of theimagery. U.S. Pat. No. 5,247,356 describes a preferred embodiment oftheir initial oblique image capture system. Since then, significantimprovements have been made to the system, still based on the '356patent. The current system is capable of capturing five viewssimultaneously: four oblique views, each oriented roughly along the fourcardinal directions, plus a nadir view capturing the area directly belowthe aircraft. All the images captured by this system are fullgeo-referenced in real-time and then can be post-processed to increasethe accuracy of the geo-referencing.

In producing the geo-referenced aerial images, hardware and softwaresystems designed for georeferencing airborne sensor data exist and areidentified herein as a “POS”, i.e., a position and orientation system.For example, a system produced by Applanix Corporation of Richmond Hill,Ontario, Canada and sold under the trademark “POS AV” provides ahardware and software system for directly georeferencing sensor data.Direct Georeferencing is the direct measurement of sensor position andorientation (also known as the exterior orientation parameters), withoutthe need for additional ground information over the project area. Theseparameters allow data from the airborne sensor to be georeferenced tothe Earth or local mapping frame. Examples of airborne sensors include:digital aerial cameras, multi-spectral or hyper-spectral scanners, SAR,or LIDAR.

The POS system, such as the POS AV system, is mounted on a movingplatform, such as an airplane, such that it is held firmly in placerelative to the sensors for which it is measuring position andorientation. By doing such, a single POS system can record the positionand orientation of multiple sensors. In addition, if the POS systemincorporates GPS or GLONASS, an antenna is mounted on the platform suchthat it has a clear view of the sky in order to receive signals from asatellite constellation. If the system incorporates an angularmeasurement capability, such as a fiber optic gyro, mechanical gyro,mechanical tilt sensor, or magnetometer, these systems must be mountedin a manner that holds them firmly in place relative to the sensors forwhich they are measuring orientation. If measurements must be taken morefrequently than the actual measured positions and orientations then ahighly accurate clock is incorporated and a means to record the preciseclock time of any sensor capture event is integrated. For instance, witha shutter based camera, an electrical signal can be sent at the time theshutter is fully open triggering the POS system to record the precisetime on the clock for that sensor capture event.

In the past, the images and the time and position data were stored onhard drives in the airplane and were post processed and made availableto users after the airplane landed. This process could take days or evenweeks before geo-referenced images were made available to users.Normally, these time periods are within the relevant time-frame.However, after a disaster occurs, this is not necessarily the case.

In the past, post-disaster metric aerial oblique imagery has beencaptured and processed and is very useful to first responders and tothose responsible for rebuilding. This is especially true for hurricanesand floods where the oblique imagery shows the height the water hasreached up the sides of buildings—something difficult to ascertain fromtraditional straight down orthogonal imagery.

During the aftermath of Hurricane Katrina, a new need was discovered:the need to determine the immediate extent of the flooding and damageand relay that to the first responders in the field. While HurricaneKatrina left a large swath of destruction, some areas were moredevastated than others. What would have been extremely useful was toconduct an overflight, transmit that data directly to the ground, allowfirst responder specialists to look at the imagery and select the mostaffected areas or other critical pieces of infrastructure such asevacuation routes that might possibly be blocked, and have the aircraftcapture those areas in more detail.

The presently disclosed and claimed invention was created in response tothat need. The work was driven by the Department of Homeland Security(DHS) which asked for a system that could perform real-timegeoreferencing of aerial imagery and then transmit the images to theground for display in a Geographic Information System (GIS). The patentowner, i.e., Pictometry, was awarded a Small Business InnovationResearch (SBIR) grant to create such a system for DHS and FEMA—theFederal Emergency Management Administration. The presently disclosed andclaimed inventive concepts go beyond the needs and specifications of theSBIR and adds the ability to do these tasks with sensor data such as butnot limited to metric oblique imagery, as well as straight downorthogonal imagery.

Satellite image capture systems exist, but while they have the abilityto transmit from the sensor to the ground, this does not immediately getthe information into the first responders in the field. First, thesatellite cannot loiter over an area, e.g., fly multiple contiguousflight paths—it must maintain its orbit and therefore only comes by aparticular geographic region every so often. Even with the ability totask the sensors on the satellite that generally only widens the windowof opportunity over the target or increases the frequency over thetarget—it still does not allow it to loiter about a predetermined groundarea. Second, even if a satellite image capture system could loiter,because satellites fly so high over the earth, any cloud cover willobstruct their view of the ground. Since there is typically a lot ofcloud cover after weather related disasters, such as hurricanes, floods,and tornadoes, this presents a serious problem, further compounded bythe satellites inability to loiter. Third, many satellites download thedata in a batch format when they are passing over an appropriatereceiving station, rather than downloading images in real-time to a vanor other ground station on site at the emergency response center.Fourth, most satellite data requires significant post-processing inorder to put the images into a form that can be readily understood orused by the Geospatial Information Systems (GIS) and Computer AidedDispatch (CAD) systems the first responders use during emergencyresponse.

Traditional aerial image fliers do not provide the captured datadirectly into the hands of the first responders in the field inreal-time for a variety of reasons. First, the data rates off the sensorare generally prohibitive for successfully transmitting data to theground in real-time. Second, the imagery typically needs to beortho-rectified in order to make it usable in GIS and CAD systems.Third, there was no known and available direct download systems in theindustry capable of reliably downloading the data from the airplane tothe ground. Fourth, the data is normally captured from directly overheadwhich is a view that first responders are not used to seeing. GISexperts typically take courses in photo interpretation in order to learnhow to recognize structures and details from straight down imagery. Fewfirst responders have had this education or the requisite experience.

With respect to the downloading of the captured data from an airplane tothe ground, conventional methodologies include manually aiming a dishantenna in the general direction of a moving remote platform and thenfine-tuning the aiming utilizing the signal strength of the incomingsignal. This works acceptably for remote platforms such as airships thatare hovering over a fixed location. However, this is often impracticalor unreliable for communicating with a communication system carried byan airplane used to capture images with the aid of a flight plan inresponse to a disaster and which may be travelling more than 25 milesaway from the dish antenna. Further, the conventional methodologies didnot provide an automated method for reestablishing a connection or datasynchronization problems after a drop-out of the high speed link.

Thus, there is a need for a system that can capture, process (e.g.,develop and geo-reference) and download sensor data such as but notlimited to metric oblique aerial images in real-time for use by firstresponders in response to a natural or man-made disaster. It is to sucha system that the presently disclosed and claimed inventive concepts aredirected.

BRIEF DESCRIPTION OF THE DISCLOSURE

The real-time moving platform management system described in thisdocument overcomes all these limitations of the prior art methodologiesdiscussed above.

Exemplary systems will be discussed below. In general, the system isdesigned to communicate data between a moving platform system and aground station system. The moving platform system is suitable formounting and use on a moving platform. The moving platform is preferablyan airplane, although it could be another type of airborne platform suchas a helicopter or a water-based platform such as a ship. Other examplesof the moving platform are discussed below.

The moving platform includes a sensor capture system, a non-line ofsight communication system, a high-speed line of sight communicationsystem, and a computer system. The non-line of sight communicationsystem can be a satellite communication system, and the high-speed lineof sight communication system can include an omni-directional antennawith a suitable communication controller.

The sensor capture system preferably includes a plurality of sensors,such as aerial oblique cameras pointed at the ground, and a positionsystem monitoring the real-time, location of the moving platform andgenerating a sequence of time-based position data.

The computer system monitors the availability of the non-line of sightcommunication system and the high-speed line of sight communicationsystem and initiates connections when the non-line of sightcommunication system and the high-speed line of sight communicationsystem are available. The computer system also receives the sequence oftime-based position data and transmits the sequence of time-basedposition data via the non-line of sight communication system and/or thehigh-speed line of sight communication system depending upon theavailability of these systems.

The ground station system is preferably positioned in or near the siteof the disaster and is provided with a non-line of sight communicationsystem adapted to communicate with the non-line of sight communicationsystem of the moving platform system; a high-speed directional line ofsight communication system adapted to communicate with the high-speedline of sight communication system of the moving platform system; acomputer system and a tracking device.

The computer system is adapted to monitor the real-time location andaltitude of the moving platform by receiving the sequence of time-basedposition data from at least one of the non-line of sight communicationsystem and the high-speed directional line of sight communication systemof the ground station system, filtering the input from the non-line ofsight communication system and the high-speed directional line of sightcommunication system of the ground station system to properlytime-sequence at least a portion of the position data to generate apredicted position of the moving platform.

The tracking device is provided with a multi-axis assembly connected tothe high-speed directional line of sight communication system, and oneor more controller receiving the predicted position of the movingplatform, and controlling the multi-axis assembly to aim the high-speeddirectional line of sight communication system to communicate with thehigh-speed directional line of sight communication system.

Once the high-speed directional line of sight communication link isformed, sensor data and positional data for geo-referencing the sensordata can be transmitted in real-time from the moving platform system tothe ground station system.

In a preferred embodiment the sensor capture system can receive flightplans in real-time, direct a pilot or control system to loiter over adisaster area, and fly the moving platform at altitudes between 2,500 to10,000 feet (preferably between 3,000 to 6,500 feet) which is under allbut the lowest hanging clouds. The sensor capture system preferably usessmall or medium format digital framing cameras that have a manageabledata rate that can be downloaded through the high speed directional lineof sight communications link. Preferably the moving platform systemdevelops and geo-references the captured sensor data prior todownloading the captured sensor data to the ground station system usinga direct registration methodology in real-time so that no additionalprocessing is required in order to correctly position the data in GIS orCAD systems. The sensor capture system can manage multiple sensors, suchas but not limited to four oblique cameras in addition to a verticalcamera thus providing views that show the sides of structures andobjects in the scene. This natural view allows first responders toinstantly recognize what it is they are looking at and to makeintelligent decisions based on that information.

The high speed direct line of sight communication link allows thisinformation to be piped directly to the emergency response center or toa van at the site of the disaster. Thus a first responder knows what ishappening now, not hours or even days past.

As discussed above, the line-of-sight communication system can beprovided with an omni-directional antenna mounted on the aircraft and atracking dish antenna mounted on the ground. The ground station systemkeeps the dish antenna aimed at the aircraft in order to enable thehigh-speed directional communication link through which images andmetadata can be transmitted to the ground and through which new flightplans and flying directives can be transmitted to the aircraft.

The non-line of sight communication system can be utilized to initiallydetermine the location of the aircraft, aim the high speed line of sightcommunication system's directional antenna, and communicate throughperiods of unavailability of the high speed link.

By adapting the computer system of the moving platform system to monitorthe imagery and metadata collected and monitor the high speeddirectional communication link, the computer system automaticallytransmits new sensor data, such as oblique imagery down the link as itbecomes available. This system also responds to commands and directivescoming up the link and starts the proper processes as needed. Thiscomputer system also initiates the non-line-of-sight communication link(such as the satellite link) in the event the high-speed directionalline-of-sight communication link is interrupted.

In a preferred embodiment, the ground station system can also displayand process the sensor data in real-time as it comes down the high-speeddirectional communication link; allow the operator to measure andexploit the imagery; request full resolution imagery from the movingplatform system since compressed imagery is typically automaticallytransmitted; as well as track the moving platform's position,orientation, and current status; and allow the operator to generate newflight plans and transmit them up to the moving platform. Moreover, theground station system preferably includes an Internet connection so thatdata products created by the moving platform system and the groundstation system can be posted in real-time to a web server and madeavailable to multiple client systems via the Internet.

Though the systems described herein were initially designed for use inan aircraft, this approach also works for other moving platforms such asboats, cars, helicopters, or even hand carried systems. Duringdevelopment of the preferred embodiment, these components weresuccessful in tracking a van driving on the streets and establishing ahigh speed communication link any time the van was in line of sight ofthe antenna, which in the tests was mounted atop a high hill. Becausethis system properly deals with the yaw, pitch, roll, X, Y, and Z of themoving platform, it is suitable for virtually any moving platform.

Thus, the real-time moving platform management system preferably createsa full end-to-end system capable of meeting the needs of firstresponders and emergency crews in an ongoing response to a natural orman-made disaster.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING

FIG. 1 is an oblique image of a portion of the coastline of GalvestonTex. after hurricane Ike.

FIG. 2 is an oblique image of the same portion of the coastline ofGalveston Tex. before hurricane Ike.

FIG. 3 is a block diagram of an exemplary real-time moving platformmanagement system constructed in accordance with an embodiment of thepresent invention.

FIG. 4 is a block diagram of an exemplary platform system constructed inaccordance with an embodiment of the present invention.

FIG. 5 is a block diagram of an exemplary ground station systemconstructed in accordance with an embodiment of the present inventionfor communicating with the platform system depicted in FIG. 4.

FIG. 6 is a diagrammatic view of a screen of a computer system of theground station system illustrating a flight plan constructed inaccordance with an embodiment of the present invention that can beuploaded to the platform system in real time and utilized to guide themoving platform to capture preselected sensor data.

FIG. 6A is a flow diagram of a process for creating a flight plan inaccordance with an embodiment of the present invention from thestandpoint of a user utilizing the ground station system depicted inFIG. 5.

FIG. 6B is a flow diagram of another process for creating a flight planin accordance with an embodiment of the present invention from thestandpoint of depicted in FIG. 5.

FIG. 7 is a view of the screen of the computer system of illustrating astep of selecting predetermined flight parameters.

FIG. 8A is another view of the screen of the computer system of FIG. 6illustrating a step of selecting points on a map to encompass apredetermined area for developing a flight plan in accordance with anembodiment of the present invention.

FIG. 8B is another view of the screen of the computer system of FIG. 6illustrating a flight plan developed in accordance with the selectedpredetermined area depicted in FIG. 8A.

FIG. 9 is a perspective view of an exemplary tracking device of theground station system.

FIG. 10 is a timing diagram illustrating the transmission of a sequenceof time-based position data, the reception of the sequence of time-basedposition data out of order, and the filtering of the received time-basedposition data to properly time-sequence the received time-based positiondata.

FIG. 11 is a diagrammatic view of a method for estimating the positionof the moving platform utilizing the properly time-sequenced positiondata.

FIG. 12 is a block diagram of software and hardware of the real-timemoving platform management system functioning together so as to generatesensor data, and position data and make geo-referenced sensor datadisplayed on a geospatial map of one or more client systems in real timein accordance with preferred aspects of the presently disclosed andclaimed inventive concepts.

FIG. 13 is an exemplary XML file containing position data in accordancewith certain versions of the presently disclosed and claimed inventiveconcepts.

FIG. 14 is a diagrammatic view of a screen of one of the client systemsillustrating the automatic rendering of data products (for example,oblique images) in real time onto a geospatial map of a mapvisualization computer program indicative of the area covered by newlycreated data products in accordance with certain versions of thepresently disclosed and claimed inventive concepts.

FIG. 15 is a diagrammatic view of the screen of one of the clientsystems illustrating the rendering of an ortho image onto the geospatialmap of a map visualization computer program in accordance with certainversions of the presently disclosed and claimed inventive concepts.

FIG. 16 is a diagrammatic view of the screen of one of the clientsystems illustrating the rendering of an oblique image onto thegeospatial map of a map visualization computer program in accordancewith certain versions of the presently disclosed and claimed inventiveconcepts.

FIG. 17 is a diagrammatic view of a data product produced by thereal-time moving platform management system in accordance with certainversions of the presently disclosed and claimed inventive concepts.

FIG. 18 is a diagrammatic view of the screen of one of the clientsystems illustrating at least a portion of oblique image pixel contentpositioned to appear on or above the geospatial map and aligned relativeto the optical axis of a sensor that captured the oblique image.

FIG. 19 is a bottom perspective view of an alternate configuration ofsensors usable by the image capture system for capturing sensor dataincluding one or more supporting structure supporting forward and aftoblique color cameras, a nadir color camera and a nadir IR camera, aflash LADAR sensor (laser and camera) (preferably pointing in a nadirdirection), and a motion video camera (e.g., 30 frames per second).

DETAILED DESCRIPTION OF THE INVENTION

Before explaining at least one embodiment of the invention in detail, itis to be understood that the invention is not limited in its applicationto the details of construction, experiments, exemplary data, and/or thearrangement of the components set forth in the following description orillustrated in the drawings. The invention is capable of otherembodiments or being practiced or carried out in various ways. Also, itis to be understood that the phraseology and terminology employed hereinis for purposes of description and should not be regarded as limiting.

Referring now to the drawings, FIGS. 1 and 2 are oblique images showingfootage of a portion of the coastline in Galveston Tex. before and afterHurricane Ike. As shown in FIG. 1, the damage to Galveston Tex. wasextensive and the Federal Emergency Management Agency was deployedimmediately to the region in an emergency response effort.

In disasters, emergency response teams need to be provided with criticalsituational awareness information and to rapidly disseminate data tosupport decision-making in the early days of the disaster to speedresponse times and protect lives. Traditionally tasks such as these havebeen done by sending individuals into the field. However, this is atime-consuming and often dangerous assignment. When remote sensing datahas been utilized it is often not current due to the extended time fromdata capture to data delivery. Space based systems can be used tocapture data but are often limited due to resolution and cloud coveraccess to the target area. Aircraft have been utilized in the past buttypically require hours or days of processing to permit data delivery tothe client. These timelines are unacceptable when lives are at stake andrapid decisions are required.

Based on the experience from multiple hurricanes and man-made disasters,the Department of Homeland Security issued a small business innovativeresearch grant for the development of a rapid response remote sensingsystem. The objective of the small business innovative research grantwas to develop a system for rapid response that is capable of supportinglarge and small disasters. The goal of that system was to capturevertical or nadir image data and distribute it to those who need to makedecisions within 15 seconds from the moment of capture to data receivedat a ground station so that data could be redistributed to the Internetat which point decision-makers across the United States would haveaccess to data that is only minutes old.

The presently disclosed and claimed inventive concepts go beyond thescope and capability of that system by creating real-time geo-referencedmetric oblique imagery and real-time geo-referenced elevation data,transmitting that information to the ground in real-time, and presentingit to the first responder in an easy to use and intuitive manner.

Referring now to FIG. 3, shown therein and designated by referencenumeral 10 is a real time moving platform management system constructedin accordance with the present invention for capturing sensor data whichis metric and distributing the sensor data in real time todecision-makers provided with or utilizing client systems 12 inreal-time, e.g. within minutes of the capturing of the sensor data andpreferably within 15 seconds of the capturing of the sensor data. Theterm “metric” is used herein to indicate that the sensor data, such asoblique imagery is geo-referenced, geographically accurate and capableof being measured within.

In general, the real-time moving platform management system 10 isprovided with a moving platform system 16 carried by a moving platform18 that captures sensor data of effected areas and passes the sensordata in real time to one or more ground station system 22 thatautomatically provides the sensor data to one or more client systems 12preferably utilizing the Internet 24. Only two of the client systems areshown in FIG. 3 for purposes of clarity and are designated with thereference numerals 12A and 12B.

The client systems 12 can be implemented in a variety of manners andinclude a variety of types of input and output devices such as a mouse,a keyboard, a microphone, one or more display devices, one or morespeakers, one or more printers, one or more network connections or thelike. The client system 12 can be implemented as one or more computer orprocessor working either together or disparately to provide thefunctions described herein. The client system 12 can also be implementedas a portable device such as a cellular telephone, laptop computer, ortemplate computer.

The moving platform 18 can be implemented in a wide variety of manners.For example, the moving platform 18 can be any type of device or systemthat can move through space in a predetermined, or random manner.Typically, the moving platform 18 is a manned airplane, but it should beunderstood that the moving platform 18 can be implemented in othermanners. For example, the moving platform 18 can be implemented as anunmanned airplane, a train, an automobile such as a van, a boat, a ship,a four wheeler, a motor cycle, tractor, a robotic device or the like.

In general, the moving platform system 16 and the ground station system22 preferably communicate data and control information via a high-speedline of site communication system 30 as shown in FIG. 3. When thehigh-speed line of sight communication system 30 is not available orconnected, the ground station system 22 and the moving platform system16 communicate via a non-line of sight communication system 32 that isdepicted in FIG. 3 as a satellite-based system by way of example.

The sensor data captured by the moving platform system 16 can be ofvarious types including, but not limited to, lidar, panchromaticimage(s), color image(s), grayscale image(s) or infrared image(s). Theimages can be, but are not limited to, oblique images, orthogonalimages, or nadir images, or combinations thereof. The sensor systemsconsidered are typically medium or small format in nature. These typesof sensor systems can provide low-cost collection capability and alsotypically generate the most common types of sensor data utilized bypolice, fire and emergency respondents.

Referring to FIG. 4, shown therein is a block diagram of an exemplarymoving platform system 16 constructed in accordance with the presentlydisclosed in claimed inventive concepts. In general, the moving platformsystem 16 is provided with a sensor capture system 40, a computer system42, a line of site communications system 44, and a non-line of sightcommunication system 46. The sensor capture system 40 can be constructedin a similar manner as the image capture systems set forth in FIGS. 1,2, 4 and 9 of the patent application identified by U.S. patentapplication Ser. No. 12/031,576 (now U.S. Pat. No. 8,520,079), includingone or more image capture devices (1, 2, 3, 4, 5 or more), one or moremonitoring systems, one or more event multiplexer systems, and one ormore data storage units or computer systems.

By way of summary, each of the image capture devices has a sensor (notshown) for capturing sensor data, such as an image and is also providedwith an event channel providing an event signal indicating the capturingof an image by the sensor. The event channel can be any device thatprovides a signal coincident with the capturing of the image, including,but not limited to, a flash output or other computer interruptcommunicated via serial or other computer communication protocol. Thesensor can capture the image in a digital manner or in an analog manner,and convert to a digital form. Further, it should be understood that theimage can be stored electronically, magnetically, or optically.

The event multiplexer system of the sensor capture system 40 has atleast one image capture input and at least one output port. In apreferred embodiment the event multiplexer system has at least two imagecapture inputs. Each image capture input receives signals from the eventchannel of one of the image capture devices. The event multiplexersystem outputs event signals indicative of an order of events indicatedby the signals provided by the image capture devices, and anidentification (CID) of image capture devices providing the eventsignals.

The monitoring system records data indicative of the capturing of theimages. For example, the monitoring system can record position data as afunction of time, time data and/or orientation data. In the examplesdescribed in U.S. patent application Ser. No. 12/031,576, the monitoringsystem records position data as a function of time, as well as time dataand/or orientation data related to the moving platform. Preferably, themonitoring system automatically and continuously reads and/or recordsthe data. However, it should be understood that the monitoring systemcan read and/or record the data in other manners, such as on a periodicbasis, or upon receipt of a signal to actuate the monitoring system toobtain and record the data. For example, the event signals produced bythe event multiplexer system can be provided to the monitoring system tocause the monitoring system to read and/or record the data indicative ofposition as a function of time related to the moving platform 18.

In the embodiments depicted in FIGS. 1 and 2 of U.S. Ser. No.12/031,576, the monitoring system also includes a satellite receivertypically receiving position and timing signals from a satelliteconstellation, using any appropriate protocol, such as GPS or loran,although other types of position determining systems can be used, suchas cell phone triangulation, e.g., Wireless Application Protocol (WAP).

The computer system of the sensor capture system 40 receives and stores(preferably in a database) the information indicative of the order ofevents indicated by the event signals, and identification of imagecapture devices providing the event signals. The computer systemoptionally also receives and stores the images (preferably in thedatabase 38) generated by the image capture devices. The monitoringsystem records the data indicative of the capturing of images by storingit internally, outputting it to the computer system, or outputting suchdata in any other suitable manner, such as storing such data on anexternal magnetic or optical storage system. The position related to themoving platform 18 can be provided in any suitable coordinate systemincluding, but not limited to, an X, Y, Z coordinate system, or aWGS1984 latitude/longitude coordinate system.

Further, the sensor capture system 40 can be provided with anorientation system, such as an inertial measurement unit for capturingother types of information with respect to the moving platform 18, suchas the orientation of the moving platform 18. The inertial measurementunit can be provided with a variety of sensors, such as accelerometers(not shown) for determining the roll, pitch and yaw related to themoving platform 18. Further, it should be understood that the positionand/or orientation information does not necessarily have to be aposition and/or orientation of the moving platform 18. The position andorientation information is simply related to the moving platform 18,i.e. the position and/or orientation of the moving platform 18 should beable to be determined by the information recorded by the monitoringsystem. For example, the position and orientation information can beprovided for a device connected to the moving platform 18. Then, theposition and orientation for each image capture device can be determinedbased upon their known locations relative to the moving platform 18.

Further details regarding the construction of the sensor capture system40 are set forth in U.S. patent application Ser. No. 12/031,576 (nowU.S. Pat. No. 8,520,079) which is hereby incorporated herein byreference.

The computer system 42 can be constructed in a variety of manners andinclude a variety of types of input and output devices such as a mouse,a keyboard, a microphone, one or more display devices, one or morespeakers, one or more printers, one or more network connections or thelike. The computer system 42 can be implemented as one or more computeror processor working either together or disparately to provide thefunctions described herein.

The computer system 42 communicates with the sensor capture system 40,the line of sight communication system 44, and the non-line of sightcommunication system 46 utilizing the signal paths 47 a, 47 b, and 47 c.The signal paths 47 a, 47 b, and 47 c can be implemented in any suitablemanner, such as wired or wireless communication links.

In general, the computer system 42 is provided with one or more computerreadable medium 48 which stores computer executable instructions (e.g.,software, firmware or the like), which when executed by the one or morecomputer or processor of the computer system 42 preferably cause thecomputer system 42 to: (1) enable the sensor capture system 40 tocapture sensor data and positional data in real time and to save thesensor data and positional data to one or more directories of one ormore computer readable medium 48 in real time; (2) monitor, in realtime, the one or more directories of the one or more computer readablemedium 48 for the sensor data and the positional data; and (3) transmitthe sensor data and the positional data from the moving platform system16 in real time to the ground station system 22 via the line of sightcommunication system 44 responsive to the sensor data and the positionaldata being detected as within the one or more directories, for example.It should be understood that the computer system 42 can be programmed totransmit the sensor data and the positional data from the movingplatform system 16 responsive to other trigger(s) or event(s).

To provide the data products discussed herein in real time, it isimportant that the ground station system 22, and the moving platformsystem 16 communicate reliably while the moving platform system 16 is inmotion. The ground station system 22 is typically stationary, but canalso be movable and/or moving such as by mounting the ground stationsystem 22 in a van or other vehicle.

In one embodiment, the ground station system 22 and the moving platformsystem 16 are adapted to communicate at distances upwards of 20 milesapart. Further, high-bandwidth is a requirement despite the ability ofthe moving platform system 16 to compress data. While compressionmethodologies of one bit per pixel from 8 to 12 bits of original datacan be used, frame size and rates are high enough that channel bandwidthis an important consideration. For example, assuming that the movingplatform system 16 is generating five data products per second, eachfrom a 50 megapixel sensor, then 250 MB of data is being generated eachsecond.

In general, the ground station system 22 and the moving platform system16 are provided with corresponding high-bandwidth line of sightcommunication systems for downloading the data products from the movingplatform system 16 in real time and for providing positional informationof the moving platform system 16 to the ground station system 22 so thatthe ground station system 22 can track the location of the movingplatform system 16 to maintain the high-bandwidth line of sightcommunication link. It should be noted that there are times when thehigh-bandwidth line of sight communication systems cannot communicateand for this reason the ground station system 22 and the moving platformsystem 16 are provided with corresponding non-line of sightcommunication systems for communicating positional information of themoving platform system 16 to the ground station system 22 for enablingthe ground station system 22 to track the location of the movingplatform system 16 to establish and/or maintain the high-bandwidth lineof sight communication link there between.

The line of sight communication system 44 is generally provided with aline of sight communication controller 52 and an antenna 54. The antenna54 is typically mounted to an exterior surface of the moving platform 18so as to be able to communicate as discussed below. In general, theantenna 54 can be implemented in any manner suitable for communicatingwith a high-speed directional line of sight communication system 56(shown in FIG. 5) of the ground station system 22. In one embodiment,the antenna 54 is implemented as an omni-directional antenna having ablade configuration. This permits the moving platform system 16 tooperate in any orientation and communicate with the ground stationsystem 22. A suitable antenna 54 can be a Model number 6040 obtainablefrom Harris Tactical Communications of Melbourne Fla.

The line of sight communication controller 52 can be a high-capacity(e.g., greater than 1 MB per second and preferably greater than about 40MB per second and even more preferably greater than about 80 MB persecond) line of sight radio adapted to provide point-to-point orpoint-to-multipoint wireless IP or ethernet infrastructure enablinghigh-bandwidth data communication between the ground station system 22and the moving platform system 16 with distances preferably between 0miles to 25 miles between the moving platform system 16 and the groundstation system 22. A suitable line of sight communication controller 52can be a RF-7800W and/or a RF-7800W-PA440 available from Harris TacticalCommunications of Melbourne Fla.

The non-line of sight communication system 46 is generally provided witha non-line of sight communication controller 58 and an antenna 60. Thenon-line of sight communication system 46 is utilized for transmittingpositional information of the moving platform system 16 to the groundstation system 22. Since the non-line of sight communication system 46is typically not designed for communicating the data products generatedby the moving platform system 16, the non-line of sight communicationsystem 46 can be provided with lower bandwidth requirements than theline of sight communication system 44. The non-line of sightcommunication system 46 can be implemented in any suitable manner, suchas by using cellular links, or satellite-based communication links, thelatter being preferred at medium to high altitudes.

When the altitude of the moving platform system 16 is expected to beabove 2000 feet above the ground, then a satellite-based communicationsystem is preferred. In particular, an Iridium-based method of datalinks communication was found to have ideal performance suitable foraccurate low rate transmission for communicating the positionalinformation with respect to the moving platform system 16, althoughother satellite-based methodologies can be used. The antenna 60 istypically mounted to an exterior surface of the moving platform 18 so asto be able to communicate as discussed herein. In general, the antenna60 can be implemented in any manner suitable for communicating with anon-line of sight communication system 64 (shown in FIG. 5) of theground station system 22. A suitable non-line of sight communicationcontroller and antenna can be model nos. 9522A and AT1621-262Wobtainable from Harris Tactical Communications of Melbourne Fla.

Referring now to FIG. 5, shown there in is a block diagram of oneembodiment of the ground station system 22 constructed in accordancewith the presently disclosed and claimed inventive concepts. In general,the ground station system 22 is provided with a computer system 70, theline of sight communication system 56, the non-line of sightcommunication system 64, and an Internet connection 72. The computersystem 70 can be constructed in a similar manner as the computer system42 discussed above and includes and/or accesses one or more computerreadable medium 74 which stores computer executable instructions(typically software or firmware) which when executed by one or moreprocessor of the computer system 70 causes the computer system 70 tomonitor one or more communication links, i.e. the line of sightcommunication system 56, in real time for newly captured sensor data andpositional data; save the newly captured sensor data and positional datato one or more directories of the one or more computer readable medium74 in real time; monitor, in real time, the one or more directories ofthe one or more computer readable medium 74 for the newly capturedsensor data and positional data; process the sensor data and positionaldata to create one or more data products for use by one or more mappingand exploitation systems; and store the one or more data products to oneor more directories of the one or more computer readable medium 74.

As will be discussed in more detail below, the line of sightcommunication system 56 is provided with an antenna 80, a line of sightcommunication controller 82, a multi-axis assembly 84 connected to theantenna 80 for controlling the position and/or pointing direction of theantenna 80, and a controller 86 for receiving information related to thereal-time position of the moving platform system 16 and generatingcontrol signals for causing the multi-axis assembly 84 to aim theantenna 80 at the antenna 54 for forming the high-speed line of sightcommunication system XX. The antenna 80 is preferably a uni-directionalopen-mesh dish antenna, so as to provide minimal air buffeting duringdish motion or wind. A suitable antenna 80 can be a model no.RF-7800W-AT003 obtainable from Harris Tactical Communications ofMelbourne Fla. Satisfactory results were obtained using a 4-foot dishantenna.

As noted above, the tracking of the moving platform 18 optimallyimproves signal strength and in turn the bandwidth is improved. Theantenna 80 is aimed with the multi-axis assembly 84 and the controller86. The controller 86 is designed to locate the antenna 54 of the movingplatform system 16 utilizing a predicted position of the moving platform18 utilizing a time-sequence of position data, such as but not limitedto GPS data. Once provided with the predicted position of the movingplatform 18, the controller 86 outputs control signals to the multi-axisassembly 84 for aiming the antenna 80 at the antenna 54.

The multi-axis assembly 84 is linked to the antenna 80, such as byconnecting the multi-axis assembly 84 between two mechanical linkages,e.g., a base and a mast, supporting the antenna 80. The multi-axisassembly 84 can be constructed in a variety of manners and is preferablyprovided with one or more motor subsystems (not shown) controllingmovement along multiple axes for aiming the antenna 80 at the antenna54. A suitable kit containing a multi-axis assembly 84 and a controller86 can be a model “Sure Shot IV” obtainable from Arizona Engineering ofPhoenix and/or Flagstaff Ariz.

The line of sight communication controller 82 can be a high-bandwidthcommunication radio utilizing any suitable frequency range, such as butnot limited to 4.4 to 5.0 GHz and is adapted to communicate with theline of sight communication controller 52 via the antennas 80 and 54. Asuitable line of sight communication controller 82 can be a model nos.RF-7800W and/or RF-7800W-PA440 obtainable from Harris TacticalCommunications of Melbourne Fla. The term “high-bandwidth” as usedherein refers to communication capabilities greater than 1 Mb/second.

The non-line of sight communication system 64 is provided with anon-line of sight communication controller 90, and an antenna 92. Ingeneral, the non-line of sight communication controller 90 and theantenna 92 are selected to communicate with the non-line of sightcommunication controller 58 and the antenna 60 of the moving platformsystem 16 typically indirectly through either a cellular telephonenetwork or a satellite network. When the non-line of sight communicationsystem 46 is based on a satellite and/or iridium-based system, thenon-line of sight communication controller 90 can be a satellite modemsuch as a model number 9522A, and the antenna 92 can be a model numberPAA 0601 both of which are obtainable from Harris TacticalCommunications.

The internet connection 72 can be used to deliver the data products toweb-based users as quickly and cost effectively as possible aftercollection. Methods of sending the data from the ground station system22 to the Internet include; wired, cellular, satellite and broadbandradio. Each solution offers unique features, benefits and detriments.Solutions may be combined or may be in the form of multiple units toincrease throughput. Testing has shown that cellular modems are too slowfor the backhaul of the large amount of captured image data, forexample, within typical data products. Due to the slow upload speeds,the cellular and satellite solutions are only viable should technologyimprovement occur. However, cellular modems are a possible considerationfor single image broadcast to users in the field should services bemaintained post disaster.

Broadband radios such as but not limited to the Harris 7800 discussedabove are viable where a wireless solution is required. These radiosmaintain their high bandwidth but may require multiple unitinstallations daisy-chained until a wired Internet connection can bemade. Since each wireless communication set up must be performed inpairs; daisy chains of these systems to reach the Internet can becomecostly. A line of site must also be maintained to insure communications.Harris Tactical Communications provides software to support this task.

In an embodiment, the real-time moving platform management system 10 isadapted to deliver data products quickly based on current situationalneeds. For example, by having an airborne oversight of a region, thereal-time moving platform management system 10 can be utilized to morerapidly and safely guide responders in a disaster affected region.

Flight planning is one of the initial tasks upon deployment of thereal-time moving platform management system 10. Traditionally, flightplanning is a very labor-intensive process. It requires detailedunderstanding of the sensor, its platform, environmental conditions,target areas, and airspace restrictions. An emergency responder shouldnot be required to have detailed familiarity with these metrics, norshould they need to be trained in the varied software suites requiredfor flight planning.

With this in mind, shown in FIG. 6 is a diagrammatic view of a screen100 of the computer system 70 of the ground station system 22illustrating a flight plan 102 constructed in accordance with anembodiment of the presently disclosed and claimed inventive conceptsthat can be uploaded to the moving platform system 16 in real time andutilized to guide the moving platform 16 to capture preselected sensordata. The flight plan 102 includes a series of paths 104 for guiding themoving platform 18 and a plurality of waypoints (not shown) with each ofthe waypoints indicating a predetermined geographic area for capturingsensor data. The paths are shown by way of arrows in FIG. 6 with thearrows also showing the direction that the moving platform 18 will beguided. Only one of the paths is labeled with the reference numeral 104for purposes of clarity. The flight plan 102 having the waypoints isused to guide the moving platform 16 while also controlling the sensorcapture system 40 to obtain sensor data of the predetermined geographicareas.

In accordance with certain inventive concepts, an embodiment of asimplified graphical user interface (GUI) for flight planning real-timeairborne data collection has been developed. Shown in FIGS. 6A and 6Bare logic flow diagrams of methods for creating a flight plan inaccordance with the presently disclosed and claimed inventive concepts.Initially, the user utilizes the computer system 70 to select certainflight parameters as shown by the block 120 and the computer system 70receives the flight parameters as shown by the block 122. The computersystem 70 then displays or provides a geospatial map as shown by theblock 124. The user locates an area to capture on the geospatial map asindicated by the block 126, and then selects at least three points onthe geospatial map as indicated by a block 128. It should be noted thatin an embodiment the selection of the first two points determines thedirection for flying the series of paths by making the paths parallelwith a line passing through the two selected points.

The computer system 70 receives the selection of points on thegeospatial map as indicated by a block 130, and then develops a flightplan as indicated by a block 132 taking into account the flightparameters selected by the user. The computer system 70 then creates aflight plan file as indicated by a block 134, and then transmits theflight plan file to the moving platform system 16 in real time asindicated by a block 136 utilizing the line of sight communicationsystem 56. The flight plan file can be in any suitable format, such asbut not limited to a binary format.

The system 10 can be adapted to take into account a variety of flightparameters as shown in FIG. 7. The flight parameters can include but arenot limited to a number of sensor(s) mounted onto the moving platform18, the type of sensors(s) mounted onto the moving platform 18, analtitude of the moving platform 18, and a flight tolerance or amount ofoverlapping coverage desired. In a preferred embodiment, theinstructions running on the computer system 70 are adapted to cause thedisplay of a flight planning screen 140 having a plurality of datafields 142, 144 and 146 with predetermined flight parameters that areselectable by the user. In the example shown in FIG. 7, (1) the datafield 142 includes a plurality of selectable flight parameters directedto the combination of a number and configuration of sensor(s) to becontrolled; (2) the data field 144 includes a plurality of selectableflight parameters directed to the altitude of the moving platform 18;and (3) the data field 144 includes a plurality of selectable flightparameters directed to flight tolerance or amount of overlap of thesensor data. The software running on the computer system 70 can bedesigned to provide additional data fields and/or pull-down menus forselecting and/or inputting flight parameters to give access to uniqueproduct and aircraft configurations, for example. The data fields orpull-down menus can be customized based on the sensors used.

As shown in FIG. 8, the selection of points on the geospatial map asindicated in the block 128 can be implemented in a variety of manners.For example, the user can simply drag a shape 150 or even a single lineonto the geospatial map. The geospatial map may be a vector, raster orhybrid representation of the region. This is an important point sincethe representation should enable users unfamiliar with an area to flightplan. By having raster/vector and hybrid maps, a user can guide themoving platform 18 to possible disaster sites with greater accuracy andconfidence. Raster content provides a historical sample of aerial orsatellite data of the region.

Most data, even if generated from National Aerial Photography, AerialStatewide or local data, will be under 5-years old. This will be truebased on the national mapping program requirements in the US. In manycases, more current data will be available. As most events have at leastminimal notice, this data, in concert with the most up-to-dateelevation, will preferably be loaded into the system prior to deploymentto the field.

Hybrid data sets in which vector content is overlaid, can be used fordamage assessment. In many cases, areas will have been destroyed orflooded, leaving the user with no viable landmarks, or landmarksrequiring familiarity with the region.

Data will likely have value post collection, as well. If the user isenabled with multiple temporal collections, they may be able to performlocal change detection. Here a user can compare quickly before and aftercontent. With data directly side by side or in overlay, users will becapable of more readily determining if the initial flight planned areasare those most affected. Again, time to response and response to thoseareas most affected is critical. This overlay will allow a higheraltitude broad area coverage mission to sample multiple areas. Once themajor impacts are determined, the higher resolution (smaller groundsample distance or GSD) data can be tasked.

Once the moving platform 18 is in the region, it can be re-vectored tonew locations if it is determined that the initially selected areas arenot those of primary impact. A user may also task the moving platform 18to collect single or multiple flight lines initially. This allows abroad area survey, or a more detailed examination of a localized region.Tasking should take into account ground station placement. This is notedon the mapping. The moving platform system 16 is typically designed tocommunicate at ranges up to twenty-five miles from the ground stationsystem 22. If flight plans are generated beyond this level, the movingplatform system 16 may still collect the sensor data and then alert theuser that the moving platform system 16 will be required to move withinan effective line of sight communication range, e.g., twenty-five miles,for example, at some point to download captured data. Multiple groundstation systems 22 may also be deployed with hand-off automaticallybetween them. This can be used to extend the coverage of near live datatransmission and review.

As shown in FIG. 8, a user has outlined an area and the software hasautomatically added overlap to insure coverage due to wind impacts onsensor roll, pitch and yaw. It has also taken elevation into account tohelp insure no data gaps, are introduced in the collection due to achange in the height over ground caused by varying terrain. Eachindividual sensor has been noted with its associated image footprint onthe ground. When zoomed, each individual frame may be seen and/or noted.The individual frames will become the actual images captured anddownloaded in real-time to the ground station system 22 from the movingplatform system 16.

The software and/or computer hardware for implementing the flightplanning algorithms described herein can be designed to provide aweb-based solution using the computer system 70 and/or a client system12 as an input/output interface for the user, and/or a stand-alonesolution where the computer system 70 and/or the client system 12 isgenerating the flight plan. For example, the software and/or computerhardware can be designed to generate flight plans from a polygon thathas been exported in a KML format to work with a stand-alone mapvisualization computer program such as Google Earth. In addition, theselected area can be saved in a suitable format, such as KML and thenimported into a separate KML flight planning tool. The tool generates aflight plan in a binary format suitable for the capture system runningon the moving platform 18, as well as a KML file that depicts the flightlines and shot polygons in KML format, for example.

These flight plans enable the user to simulate the flight paths and itsassociated imagery for more accuracy of the depicted area. To create aflight plan, the user drops a shape or box over the effected area andthe software will generate a plan according to the capture systems onthe available moving platform 18. The capture systems may differ betweenmoving platform 18, from the focal length of the lens, array,orientation of cameras, and flight height. All of these features can betaken into account by the software tools.

FIG. 9 is a perspective view of an exemplary tracking device 152 of theground station system 22. The tracking device 152 includes the antenna80, the multi-axis assembly 84, the line of sight communicationcontroller 82, and at least two alignment antennas 154 and 156 used fordetermining the current pointing direction of the antenna 80. In thisexample, the multi-axis assembly 84 is connected between a base 158(e.g., a tripod) and a mast 160 and includes a first bushing 162 forchanging the vertical orientation of the antenna 80, and a secondbushing 164 for changing the horizontal orientation of the antenna 80.The line of sight communication controller 82 can be mounted to the mast160 so as to be movable with the antenna 80. In one embodiment, thealignment antennas 154 and 156 can be GPS antennas which are spacedapart a preselected distance and aligned with a center and/or orpointing direction of the antenna 80.

As discussed above, the non-line of sight communication system 46 of themoving platform system 16 makes a connection with the non-line of sightcommunication system 64 of the ground station system 22 to form thenon-line of sight communication system 32. Position information is sentto the computer system 70 of the ground station system 22, and then thepredicted position of the antenna 54 is provided to the controller 86for forming the high speed line of sight communication system 30 via thesystems 56 and 44. When the moving platform system 16 is communicatingwith the ground station system 22 with the non-line of sightcommunication system 32, there can be a latency period in the range of3-10 seconds and more typically about 5 seconds.

However, when the moving platform system 16 is communicating with theground station system 22 with the high speed line of sight communicationsystem 30, then almost zero latency exists. Using two differentcommunication systems with different latency periods can result inerrors in aiming the antenna 80.

FIG. 10 is a timing diagram illustrating the transmission of a sequenceof time-based position data (i.e., events 1001-1020), an indication ofthe communication system in use (i.e., HS refers to the high speed lineof sight communication system 30, and LS refers to the non-line of sightcommunication system 32), the reception of the sequence of time-basedposition data being out of order due to the transition between thehigh-speed line of site communication system 30 and the non-line ofsight communication system 32, and the filtering of the receivedtime-based position data to properly time-sequence the receivedtime-based position data. In a preferred embodiment, the time-basedposition data is fed directly from a GPS receiver in the moving platform18, and provides a time stamp, as well as latitude, longitude, andaltitude of the moving platform 18. As shown in FIG. 10, when thehigh-speed line of site communication system 30 is interrupted duringevent 1005, the non-line of sight communication system 32 is initiatedand a four event latency exists, i.e., event 1007 is received duringevent 1011. When the high-speed line of site communication system 30 isre-initiated, data transmitted by the high-speed line of sitecommunication system 30 is received prior to the data being transmittedby the non-line of sight communication system 32 which causes event 1013to arrive before event 1011, for example. The computer system 70 isprogrammed to properly time-sequence at least a portion of the positiondata so that the most current position of the moving platform 18 can bedetermined or estimated. In this example, events 1010-1012 may bediscarded since the event 1013 is more current.

FIG. 11 is a diagrammatic view of a method for estimating the positionof the moving platform utilizing the properly time-sequenced positiondata. Shown in FIG. 11 is a plurality of past positions 168 a, 168 b and168 c identified by the time-based position data of the moving platform18 as well as an estimated or predicted position 170. The predictedposition 170 can be calculated by calculating the angular velocity anddirection of travel of the moving platform 18 using the past positions168 a, 168 b and 168 c and then extrapolating to calculate the predictedposition 170 based on the current time. Any suitable extrapolationtechnique can be utilized such as by using a curve fitting algorithmsuch as but not limited to cubics or splines and then estimating forwardto the current time. Although three past positions 168 a, 168 b and 168c are shown, it should be understood that more or less of the pastpositions can be used to calculate the estimated or predicted position170. In general, increasing the number of the past positions as well astheir time relative to the current time will increase the accuracy ofthe estimated or predicted position.

FIG. 12 is a block diagram of software and hardware of the real-timemoving platform management system functioning together so as to generatesensor data, and position data and make geo-referenced sensor data to bedisplayed on a geospatial map of one or more client systems in real timein accordance with preferred aspects of the presently disclosed andclaimed inventive concepts.

As discussed above, the non-line of sight communication system 46 of themoving platform system 16 makes a connection with the non-line of sightcommunication system 64 of the ground station system 22. Positioninformation is sent to the computer system 70 of the ground stationsystem 22, and then the predicted position of the antenna 54 is providedto the controller 86 for forming the high speed direct line of sightcommunication link via the systems 56 and 44. There can be latencyperiod with this information in the range of 3-10 seconds and moretypically about 5 seconds. In a preferred embodiment, the positioninginformation is fed directly from a GPS receiver in the moving platform18, and provides a time of capture, as well as latitude, longitude, andaltitude of the moving platform 18.

The antenna 80 is positioned based on this information, and once themoving platform 18 is within line-of-sight of the antenna 80, an IPconnection is preferably achieved. The computer system 42 now switchesover to the IP-based broadcast of position information where there is anear-0 second latency period with this information. If this connectionfails (due to a variety of events such as the moving platform 18 bankingor going beyond the horizon, landing, etc), the computer system 42 willfall back to the non-line of sight communication system 46 to transmitthe positioning information.

In use, the pilot navigates the moving platform 18 along the flightpath, and the sensor capture system 40 starts capturing sensor data,such as imagery. The sensor capture system 40 saves out the RAW,unprocessed image files directly from the cameras to a specificdirectory, based on a variety of factors, such as but not limited to theaircraft, sortie, flightplan and flight line. The sensor capture system40 also produces a position file, shown by way of example and discussedherein as an “XML file” that can be saved along with the RAW file. Inone embodiment, this XML file contains:

-   -   Image ID—filename of the associated RAW file    -   Date and Time that the image was captured    -   Frame Count—sequence number of the image this day    -   Latitude, Longitude of all four corners of the image

The determination with respect to the four corners of the image beingdetermined is one form of “geo-referencing” (although others types ofgeo-referencing can be used) and can take into account the interiororientation (focal length, principal point and radial distortion of thesensor)—exterior orientation (gps data such as the x, y and z positionof the moving platform 18), inertial measurement unit data (such asroll, pitch and yaw), and elevation on the ground of the captured sensordata, and an earth model. In one embodiment, the elevation of the nadirpoint is determined for each waypoint scheduled during flight planning,and this elevation is used to initially geo-reference the sensor data inlieu of a digital elevation model (the elevation of each image can betaken from the flight plan). In other words, when creating the flightplan—in an embodiment there can be a single elevation captured for eachframe of sensor data as an approximation for immediate calculation.Thus, each frame of sensor data is assumed to be at a certain elevationand flat. The elevation for each sensor data can also be accomplished byusing lidar data, flash lidar data, or an elevation model, such as thedigital elevation model. The client system 12 and/or the computer system70 of the ground station system 22 can conduct further geo-referencingutilizing a ground elevation model to enhance the geo-referencedaccuracy of the sensor data. Further, in a preferred embodiment thesensor data, such as an oblique image, is not ortho-rectified so as toconserve processing power.

The system 10 is provided with “Manager” software packages running onthe moving platform system 16, the ground station system 22 and theclient system 12. The “Manager” software packages include an “AirManager” 200 running on the computer system 42 in the moving platform18, a “Server Manager” 210 on the computer system 70 of the groundstation system 22, and “Client Manager” 220 on the display client system12. In a preferred embodiment, the air manager 200, the server manager210 and the client manager 220 share a common architecture.

In one embodiment, the managers 200, 210 and 220 include a “backbone”that starts up “nodes” which perform a specific task. The “backbone”also acts like a kind of traffic cop, sending messages from one node toanother.

When a node starts up, it tells the backbone a couple things: 1. Whatkind of node it is; and 2. What data types it wants to subscribe to.While running, a node can also submit status information to the backboneincluding:

-   -   generic status (waiting on input, failed, processing, etc)    -   node-specific status string (“processing 4/34 images” etc)

Nodes can produce messages of specific types, and can listen formessages of specific types. Messages passed may also include a payloadstring that usually contains the associated filename. Examples ofmessages include:

-   -   RAW file ready    -   JPG file ready    -   XML file ready    -   URL Announce

In the case of “URL Announce”, the payload is the URL. Some nodes willlook for multiple files and will announce when both associated fileshave been found. For example, one portion of the system looks for theRAW imagery, and the associated XML metadata file. When both are foundand are complete, then a “RAW+XML” message is sent.

Nodes send messages to their backbone, which then determines what to dowith it. The manager will then forward the message to the nodes thathave subscribed to those message types. It also can send these messagesacross an XML-RPC connection to another manager on the same network.

Managers 200, 210 and 220 may also have mechanisms by which they canfind each other. For example, a manager 200, 210 and 220 may broadcastinformation about itself once every second via UDP. This information mayinclude:

-   -   XML-RPC port (for inter-manager communications)    -   Port number for web access    -   Manager type (air, server, client)    -   Manager name (“Air Manager”, “Server Manager”, etc)    -   Unique id (which may be randomly generated at startup time)

The Unique ID can be used to tell if a manager 200, 210 and/or 220 hasbeen restarted. The managers 200, 210 and 220 may also use this UDPbroadcast to determine their own IP information. For example, one of themanagers 200, 210 and 220 can start a thread listening for othermanagers, then start broadcasting, itself. When the broadcasted stringmatches its own, it knows that it is listening to itself.

In an embodiment, the Managers 200, 210 and 220 can use XML-RPC toforward messages from nodes on one manager to the nodes on the remotemanager. Each manager 200, 210 and 220 can also run a logging mechanismwhich all of the nodes can post messages to. This is so that the userscan see the progress of the processing utilizing one or more of thewebserver nodes 230, 232 and 234, or if there was a fault, determinewhat went wrong.

In an embodiment, each manager 200, 210 and/or 220 also loads in anXML-based configuration file at runtime that contains various settingsfor each node and general settings for the manager 200, 210 and/or 220itself. When a manager 200, 210 and/or 220 is run, it also looks for afew different configuration filenames in the local directory, which areloaded in after the internal configuration file is consumed.

Managers 200, 210 and/or 220 may also have files integrated into theirexecutable. These are built into the executable at build time. Thisgreatly simplifies distribution of the executable files, since only onefile is necessary. This allows for the integrated webserver to provideimage files and such without need to install or maintain those filesalong with the manager executable.

All managers 200, 210 and/or 220 may also be provided with the“WebServer Node” 230, 232 and/or 234. The webserver nodes 230, 232and/or 234 can be a very simple webserver that acts as the interface tothe manager, although sophisticated webservers can also be used. Throughthe webserver nodes 230, 232 and/or 234, a user can see the status ofthe manager 200, 210 and/or 220, status of all of the nodes, status ofthe machine they're running on, the log messages, and the list of URLsthat have been announced.

The “Air Manager” (running in the moving platform 18) can be providedwith the following nodes:

Dir Scanner Node 240 that in an embodiment looks in a directory of thecomputer readable medium 48, e.g., a disk, for the RAW images as well asthe associated XML files (which can be either geo-referenced or RAW)produced by the sensor capture system 40. The Dir Scanner Node 240 cansend out “RAW Ready”, “XML Ready” and “XML+RAW Ready” messages, forexample.

Developer Node 242—this listens for “RAW Ready”, and then grabs the RAWimage files, develops the RAW image files preferably using a quickdevelopment methodology, such as but not limited to nearest-neighbordebayer, and then saves out sensor data such as in the form of an imagefile which is shown and described herein by way of example as a “JPEGfile.” Other file types can be used such as but not limited to BMP;TIFF, and PNG. The developer node 242 can also use either a hardwareand/or software based data compression methodology for reducing the sizeof the developed file. A suitable hardware solution utilizes JPEG 2000methodology for example. In general, using the system 10 describedabove, the files are compressed to be in the range of between 3bits/pixel to 0.0625 bits/pixel. The amount of compression can bedependent upon the speed of the high-speed line of sight communicationsystems 44 and 56 and with the hardware discussed above, a preferredrange of compression is around 12:1 to about 48:1 resulting in an imagefile having approximately 1 bit/pixel to approximately 0.25 bit/pixel.The developer node 242 also sends out “JPG Ready”, “XML+JPG Ready”messages for example.

Pusher Node 244 listens for the “XML+JPG Ready” messages. In anembodiment, the pusher node 244 opens an FTP connection to a groundserver 246 hosted by the computer system 70, and pushes a few differentfile types down to the ground including, but not limited to:

-   -   JPEG developed images    -   XML metadata files    -   Log files

In one embodiment, the pusher node 244 monitors one or more currentdirectory, and looks at an appropriate directory on the ground server246 and if there is a file locally (or there is a local file with adifferent file size), the pusher node 244 will push that file down tothe ground server 246.

Radio Node 248—this is a special node that talks with the line of sightcommunication controller 52 for sending data between the moving platform18 and the ground. The radio node 248 monitors transmission quality, andother radio-based statistics.

The Ground/Server Manager 210 (running on the computer system 70 of theground station system 22 can have the following nodes:

Dir Scanner node 250 looks on the one or more computer readable medium74, e.g., disk or memory, for the JPG images as well as the associatedXML files pushed down via the pusher node 244 in the moving platform 18.The Dir Scanner node 250 can send out “JPG Ready”, “XML Ready” and“XML+JPG Ready” messages, for example.

Slicer Node 252 listens for “JPG Ready” messages. It loads in the JPEGfiles, scales and slices them for a map visualization computer program,such as Google Earth. In this instance, the slicer node 252 creates“superoverlays” (a means to overlay large volumes of data in anefficient manner) tailored to the specifications for Google Earth. Theslicer node 252 sends out “JPGS Ready” and “XML+JPGS Ready” messages,for example.

KML Gen node 254 can read in the XML files, and generate one or more KMLfile that can be used with the associated JPEG file to load the imageryinto Google Earth, for example. The KML Gen node 254 also generates thestatic KML Pyramids (which is a means to store multiple levels ofresolution so that lower resolution versions of the image can be shown,saving on memory and bandwidth, when the user viewpoint is far away fromthe image being displayed) used for the “Superoverlay” method of loadingimagery into Google Earth.

Radio Node 256 is similar to the radio node 248 discussed above.

An exemplary Client Manager 220 (running at the ground station) mayhave, but is not limited to the following nodes:

Dir Scanner Node 260 looks for sliced images produced on the groundserver manager 210, as well as their associated XML files. The DirScanner Node 260 sends out “XML+JPGS” messages.

Launcher Node 262—Looks for “XML+JPGS” messages and when the launchernode 262 sees these, that information is added to a “launch queue”. Thelauncher Node 262 includes the following two main parts.

1. The launch queue. When “XML+JPGS” messages are consumed, theassociated information is added to the end of a launch queue. Thelauncher mechanism will call a map visualization software program, suchas Google Earth, with the URL to a KML file for this data. This is a urlfor the secondary webserver, with a specifically crafted URL whichdescribes to the webserver exactly which source XML file to use, as wellas where exactly in the superoverlay/pyramid the data is.

2. Secondary webserver—this generates a “URL Announce” message resultingin the URL to this webserver appearing on the web interface in the “Webserver node”. On demand, this webserver may produce the KML pyramidfiles needed for a KML Superoverlay. These are preferably generatedlive, rather than being static, because they need to include the IPaddress of the machine which they are running on, and the address forthis webserver, as well as a tertiary webserver that provides imagedata, if the node is configured as such. This webserver also provides abrowsing interface to all of the acquired data thus far. The user willsee thumbnails of the individual images, sorted by flight plan andsortie. The user can also trigger entire flight plans to be launchedfrom this interface.

The tertiary webserver, usually IIS, to provide the image data, since itis more finely tuned to providing mass amounts of static data.

In use, the Air Manager's node 240 scans for RAW and XML files generatedby the sensor capture system 40. Once found, this triggers the developernode 242 to convert the RAW file to a JPEG file. These files are thenpushed to the ground server node 246 over the wireless networkconnection, preferably via the FTP protocol.

It should be noted that the sensor capture system 40 and the air manager200 are preferably decoupled to work independently and this is anadvantage to having the sensor capture system 40 saving files into aparticular directory and then having the Dir Scanner node 240 monitoringthe directory for new files. This can be represented as a distinct breakbetween the sensor capture system 40 and the Air Manager 200 so that thetwo systems function independently so that the sensor capture system 40cannot directly affect the operation of the air manager 200 andvice-versa.

The Ground server node 246 watches the incoming FTP directories for theabove pushed XML and JPG files. It then will initiate the generation ofthe static KML files, and slice up and scale the JPEG file, for example.

The Dir Scanner node 260 watches the directory (preferably mounted via aSmb network share) for the above sliced JPEG and XML files. Once it seesthem, they are added to the launcher's queue. The launcher will thenlaunch the map visualization computer program, such as “Google Earth”using any suitable technology, such as via a URL. The map visualizationcomputer program, such as but not limited to Google Earth, will querythe launcher's webserver, and IIS (if configured as such) to retrievethe KML and image pyramids needed.

It should be noted that KML+JPEG are for the current implementation ofthe system. That is to say, the current display client application (ormap visualization computer program) is Google Earth. Google Earth allowsfor KML and JPEG files as one of its source media types. In the diagramand in the image lifecycle, we could just as easily be generating otherimage formats or other metadata formats, or possibly combining them intoone binary file along the way, to suit the needs of other displayclients, other visualization software packages, or in a package formatdetermined by the needs of the end customer.

It should be noted that there are two places in the system where KMLfiles are generated. What follows is a brief explanation of thedifferences between them. KML files specify the image file that'sassociated to them via a filepath or network link URL. They also specifythe sub-KML files in similar ways with respect to KML Superoverlaypyramids. The first way is a direct path on a local filesystem. Thiswould be something like “groundlmagery.jpg”. The second way is via aweblink URL, e.g.,“http://192.168.1.42/Imagery/ThisFlight/groundImagery.jpg”.

In this case, it would require that a webserver be running on thecomputer with a network address of “192.168.1.42” which can provide theimage file.

The KML Gen node generates files of the former type. These KML files areto be used in combination with an image file or files, and can bedistributed to whomever, and loaded without any knowledge of the abovesystem. They're just static KML and JPG files. In an embodiment, theLauncher node 262 generates files of the latter type. It also generatesthem live, as needed. This is done because the image pyramids(superoverlays) function better in Google Earth when they refer to KMLand imagery provided via a webserver, rather than as local files. Inorder to accommodate the possibility that the Client Server softwaremight be running on one or more machines, or might be running on acompletely different network, we need to generate the address of theprovider in the links in the KML files as they are needed. This allowsfor even that machine to change its address and everything still works.

The total latency from the image being acquired through the sensorcapture system 40 to it launching in Google Earth is roughly 20 seconds.Most of that time is the directory scanners making sure that they havecomplete data files. Further, although FIG. 12 illustrates pushtechnology being utilized to push the sensor data and the positionaldata to the data server 246, it should be understood that pulltechnology could also be used. For example, the data server 246 can beconfigured to poll the pusher node 244 to initiate the transmission ofthe sensor data and the positional data.

FIG. 13 is an exemplary XML file containing position data in accordancewith certain versions of the presently disclosed and claimed inventiveconcepts. In particular, the XML file contains information regarding thegeo-referencing of the sensor date such as but not limited to thelat/long coordinates for four corners of the sensor data, as well asvarious location regarding the capturing of the sensor date, such as thelocation of the RAW file, mission ID, date/time of capture, framecountand the like.

FIG. 14 is a diagrammatic view of a screen 270 of one of the clientsystems 12 illustrating the automatic rendering of data products (forexample, oblique images) in real time onto a geospatial map 272 of a mapvisualization computer program indicative of an area 274 covered bynewly created data products in accordance with certain versions of thepresently disclosed and claimed inventive concepts.

FIG. 15 is a diagrammatic view of the screen 270 of one of the clientsystems 12 illustrating the rendering of an ortho image 276 onto thegeospatial map 272 of the map visualization computer program inaccordance with certain versions of the presently disclosed and claimedinventive concepts.

Referring now to FIGS. 16-18, in general, there are two primary ways torender or display oblique images on the geospatial map 272: bystretching the oblique images to fill the area they cover on the groundor by standing them up perpendicular to the optical axis of the sensorthat captured them. The first method is pretty straight forward. Adetermination is made where the image content maps to on the ground andthen pixels are stretched to fill that space. This can be done bycalculating the location of the four corners of the oblique image andapplying a linear stretch to the pixel data between the corners of theoblique image or by taking the exterior camera geometry into account andprojecting each portion of the oblique image down to its proper locationon the ground. One way to visualize this method is take a projector,load it with the captured oblique image, and place the projector at thesame location and orientation that the sensor was in when it originallycaptured the image. The captured image would be projected down to theground and fill all of the ground originally captured by the sensor. Foroblique images from a view perpendicular to the ground, the resultingprojection on the ground would take on a trapezoidal shape deformed byany yaw, pitch, or roll of the moving platform and potentially by anychanges in terrain if those changes are accounted for in the mappingmodel used by the mapping software.

An example of the rendered oblique image 278 on the geo-spatial map 272is shown in FIG. 16 as a diagrammatic view of the screen 270 of one ofthe client systems 12. In particular, FIG. 16 illustrates the renderingof the oblique image 278 onto the geospatial map 272 of a mapvisualization computer program in accordance with certain versions ofthe presently disclosed and claimed inventive concepts.

For the second method, as shown in FIG. 18, this is a little trickier.The object is to maintain the rectangular form of the oblique image 278(shown in FIG. 18 as being surrounded by dashed lines) and not warp itat all, but to place it within the geospatial map 272 such that whenviewed from the same location and orientation of the camera thatcaptured the oblique image 278, it is indistinguishable in appearancefrom the first method since it lines up with the area on the ground. Tomaintain the image's rectangular form, the image 278 can be placed on amathematical plane 280 that is perpendicular to the optical axis thatcaptured it. It need not be perfectly perpendicular (for example, even+/−5-degrees off perpendicular can work if the image is not warpedbeyond desirable amounts) but should be close enough to avoid anyundesirable warping.

Next, in order to fill the scene as best as possible, the image 278needs to be as close to the ground as possible. Since the optical axisintersects the ground obliquely, this means the oblique image 278 is notlaid flat on the ground but instead is rendered as standing up above theground on the mathematical plane 280 a so that at least a portion of theoblique image pixel content is shown as being above the ground. In orderto keep as much of the oblique image 278 visible as possible, thisgenerally means a bottom edge 282 of the oblique image 278 is placedalong the surface of the ground in the geospatial map. The mathematicalplane 280 a on which the oblique image 278 is rendered then projects upfrom the ground intersecting the optical axis in a generallyperpendicular manner as discussed above.

The edges of this mathematical plane 280 a are then described by thefield of view of the sensor that captured the image. Thus, if the camerahas a 20-degree horizontal field of view then the right size of themathematical plane would end along a vertical edge that is projectedoutward from the optical axis by 10-degrees starting at the locationfrom which the image was originally captured. One way to visualize thismethod is to make a billboard that is as wide as the ground areadepicted in the bottom of the oblique image and whose height is thenconstrained to meet the aspect ratio of the sensor. Thus, if you areusing a sensor with a 3:2 aspect ratio and the front of the image coversan area on the ground 1,500-feet wide, the billboard would be 1,000-feettall. The oblique image is then printed on this billboard preferablywithout warping or stretching—it is merely scaled to fit the billboard.Finally, this billboard is then placed on the surface of the earthlining the front of the image with the same location it covers on theground and then tilting the billboard up so that it is perpendicular tothe optical axis—that is, until you are looking straight at it whenlooking from the location and orientation at which the oblique image wasoriginally captured.

Because in one embodiment the sensor capture system 40 captures eachground location from multiple directions, the result is typically fourof these oblique views, or billboards, standing up with one from eachdirection captured. However, the map visualization computer program mayhide one or more views that are pointed away from the current viewpointso that only two or three of the four oblique views (north, south, east,and west) are visible at any one time. However, in this event, the mapvisualization computer program can be adapted to reveal the otherdirectional views by rotating the viewpoint of the geospatial map 272.In the example shown in FIG. 18, three of the mathematical planes 280 a,280 b and 280 c are shown with oblique images rendered upon themathematical planes 280 a, 280 b and 280 c. The mathematical planes 280a, 280 b and 280 c correspond to North, West and East views standing upin their proper location.

FIG. 17 is a diagrammatic view of a data product 281 produced by thereal-time moving platform management system 10 in accordance withcertain versions of the presently disclosed and claimed inventiveconcepts. In particular, because the data product 281 includes ageo-referenced oblique image 282, a GIS layer 284 (shown in solid lines)illustrating the original locations of building footprints can beoverlaid on the geo-referenced oblique image 282.

FIG. 19 depicts an alternate configuration of sensors usable by thesensor capture system 40 for capturing sensor data including one or moresupporting structure 300 supporting forward and aft oblique colorcameras 302 and 304, a nadir color camera 306 and a nadir IR camera 308,a flash LADAR sensor (laser and camera) 310 (preferably pointing in anadir direction), and a motion video camera 312 (e.g., 30 frames persecond).

A major need during the aftermath of a major disaster is thedetermination of the amount of debris that must be cleared. Thisvolumetric information is important in order to have the correct numberof trucks on hand to haul away the debris. If the amount of debris isunderestimated, then the debris removal takes longer than desired. Ifthe amount of debris is overestimated, then the cost for debris removalruns over budget.

One manner to solve this problem is to capture new surface elevationdata immediately following the disaster and calculate the volume of anydebris volumes by taking the difference between the original groundsurface data and the newly captured surface elevation data. In order toproperly monitor the removal of the debris, this calculation must occurquickly and cannot wait the days, weeks, or months that normal elevationmodel generation takes. Getting this information in real-time or nearreal-time is extremely beneficial.

In addition, there will be many times the system 10 is used in areaswith poor elevation data or even no elevation data. In order to makemore accurate measurements, it may be desirable to gather new elevationdata at the same time the oblique imagery is being captured. Thiselevation data can then be used to geo-reference the oblique imagery.Since the goal of this system is to provide fully geo-referenced obliqueimagery in real-time, the elevation data should be captured in real-timewhen poor or even no elevation data exists.

In one configuration of the preferred embodiment system 10, this isaccomplished by incorporating a Flash LADAR system from Ball Aerospace.The Flash LADAR system emits a burst of laser energy in a dispersed beam314 which reflects off the surface of the earth (as well as any objectsor structures on or above the surface of the earth) and then a sensorrecords the wave form of the returning light 316 including the highlyprecise time elapsed from the time the laser was pulsed to the time thelight returns to the camera. By using this elapsed time information, thedistance from the sensor to the ground can be calculated for eachdiscreet sensor element seen by the Flash LADAR system's camera.

While the preferred embodiment system uses a Flash LADAR system, anysystem capable of capturing remotely sensed elevation data can be used,such as a pulsed LiDAR system, a Geiger Mode LiDAR system, a SyntheticAperture Radar system, or even an automatically generatedaerial-triangulation extracted surface model directly from oblique ornadir imagery captured in real-time.

In a preferred embodiment, the steps of the processes described hereinoccur sequentially in real-time. The actual time periods in at least oneof the preferred embodiments may depend upon the speed of the equipmentused to carry out the stated and claimed inventive concepts as well asany delay times that is not necessitated by the equipment. For example,the speed and/or the efficiency of the communication systems and thecomputer systems may have an effect on the execution time of the methodsdescribed herein. As such, the term “real-time” is meant to designate atemporal relationship relating to the timing of the steps describedherein.

It will be understood from the foregoing description that variousmodifications and changes may be made in the preferred and alternativeembodiments of the present invention without departing from its truespirit.

This description is intended for purposes of illustration only andshould not be construed in a limiting sense. The scope of this inventionshould be determined only by the language of the claims that follow. Theterm “comprising” within the claims is intended to mean “including atleast” such that the recited listing of elements in a claim are an opengroup. “A,” “an” and other singular terms are intended to include theplural forms thereof unless specifically excluded.

The term “computer readable medium” as used herein refers to an articlecapable of storing computer readable instructions (e.g., software orfirmware) in a manner accessible and readable by one or more computersystems. Examples of computer readable mediums include memory, a harddisk, a floppy disk, a flash drive or the like.

What is claimed is:
 1. A moving platform system suitable for mountingand use on a moving platform for communicating in real-time, comprising:a position system monitoring location of the moving platform andgenerating a sequence of time-based position data; a non-line of sightcommunication system; a high-speed line of sight communication system;and a computer system monitoring an availability of the high-speed lineof sight communication system, initiating connections with a groundstation utilizing the non-line of sight communication system when thehigh-speed line of sight communication system is not available,receiving the sequence of time-based position data, and transmitting thesequence of time-based position data from the moving platform via acurrently available one of the non-line of sight communication systemand the high-speed line of sight communication system, based on theavailability, and transmitting sensor data and metadata to the groundstation.
 2. The moving platform system of claim 1, wherein the computersystem transmits oblique images and positional data to the groundstation.
 3. The moving platform system of claim 2, further comprisingone or more directories of one or more computer readable mediumpositioned on the moving platform to which the oblique images andpositional data are saved, and wherein the computer system is adapted tomonitor the one or more directories of the one or more computer readablemedium for the oblique images and positional data; and transmit theoblique images and positional data from the moving platform system tothe ground station over a the high-speed line of sight communicationsystem responsive to the oblique images and positional data beingdetected as within the one or more directories.
 4. The moving platformsystem of claim 1, wherein the non-line of sight communication systemutilizes cellular links.
 5. The moving platform system of claim 1,wherein the non-line of sight communication system utilizessatellite-based communication links.
 6. The moving platform system ofclaim 1, wherein the non-line of sight communication system comprises asatellite communication system.
 7. The moving platform system of claim1, wherein the high-speed line of sight communication system comprisesan omni-directional antenna.
 8. The moving platform system of claim 1,wherein the high-speed line of sight communication system is adapted toprovide point-to-point or point-to-multipoint wireless IP or ethernetinfrastructure communication.
 9. The moving platform system of claim 1,wherein the moving platform is an aircraft.
 10. The moving platformsystem of claim 1, further comprising a sensor capture system includingaerial image capture devices.
 11. The moving platform system of claim 1,the computer system further transmitting aerial images via the currentlyavailable one of the non-line of sight communication system and thehigh-speed line of sight communication system.
 12. The moving platformsystem of claim 11, wherein the aerial images are oblique aerial images.13. The moving platform system of claim 11, wherein the aerial imagesare geo-referenced.
 14. The moving platform system of claim 1, thecomputer system further receiving new flight plans via the currentlyavailable one of the non-line of sight communication system and thehigh-speed line of sight communication system.
 15. The moving platformsystem of claim 1, wherein the sequence of time-based position dataincludes GPS data.
 16. The moving platform system of claim 1, whereinthe sequence of time-based position data is based on cell phonetriangulation.